EP1903413A3 - Method of dividing coverage area for robot and device thereof - Google Patents

Method of dividing coverage area for robot and device thereof Download PDF

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Publication number
EP1903413A3
EP1903413A3 EP07110280.0A EP07110280A EP1903413A3 EP 1903413 A3 EP1903413 A3 EP 1903413A3 EP 07110280 A EP07110280 A EP 07110280A EP 1903413 A3 EP1903413 A3 EP 1903413A3
Authority
EP
European Patent Office
Prior art keywords
robot
dividing
coverage area
map
space map
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07110280.0A
Other languages
German (de)
French (fr)
Other versions
EP1903413A2 (en
EP1903413B1 (en
Inventor
Hyeon Myeong
Seok-Won Bang
Jung-Won Kang
Si-Jong Kim
Myung-Jin Chung
Su-Jinn Lee
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Samsung Electronics Co Ltd
Original Assignee
Samsung Electronics Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Samsung Electronics Co Ltd filed Critical Samsung Electronics Co Ltd
Publication of EP1903413A2 publication Critical patent/EP1903413A2/en
Publication of EP1903413A3 publication Critical patent/EP1903413A3/en
Application granted granted Critical
Publication of EP1903413B1 publication Critical patent/EP1903413B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)

Abstract

A method of dividing a coverage area of a robot and a device for the same. That is, a method of producing a space map for a robot to work and dividing the space map into at least one segment and a device for the same. The method includes producing an occupancy grid map composed of grid points that are probabilistically distributed by sensing a distance from an obstacle, producing a configuration space map by increasing the thickness of an obstacle and a wall in the occupancy grid map on the basis of the radius and size of the robot, and dividing an area by sweeping the area with a band-typed slice in the configuration space map.
EP07110280.0A 2006-08-18 2007-06-14 Method of dividing coverage area for robot and device thereof Active EP1903413B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020060078398A KR100791386B1 (en) 2006-08-18 2006-08-18 Method and system of cell decomposition in mobile robot

Publications (3)

Publication Number Publication Date
EP1903413A2 EP1903413A2 (en) 2008-03-26
EP1903413A3 true EP1903413A3 (en) 2013-11-20
EP1903413B1 EP1903413B1 (en) 2017-04-12

Family

ID=39027486

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07110280.0A Active EP1903413B1 (en) 2006-08-18 2007-06-14 Method of dividing coverage area for robot and device thereof

Country Status (5)

Country Link
US (1) US7933686B2 (en)
EP (1) EP1903413B1 (en)
JP (1) JP4680955B2 (en)
KR (1) KR100791386B1 (en)
CN (1) CN101126645B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN106175606A (en) * 2016-08-16 2016-12-07 北京小米移动软件有限公司 Robot and the method for the autonomous manipulation of realization, device

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Publication number Priority date Publication date Assignee Title
CN106175606A (en) * 2016-08-16 2016-12-07 北京小米移动软件有限公司 Robot and the method for the autonomous manipulation of realization, device

Also Published As

Publication number Publication date
KR100791386B1 (en) 2008-01-07
US20080046125A1 (en) 2008-02-21
JP4680955B2 (en) 2011-05-11
CN101126645B (en) 2012-07-04
EP1903413A2 (en) 2008-03-26
CN101126645A (en) 2008-02-20
EP1903413B1 (en) 2017-04-12
US7933686B2 (en) 2011-04-26
JP2008047095A (en) 2008-02-28

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